The Israelites did evil in the eyes of the LORD; they forgot the LORD their God and served the Baals and the Asherahs. The anger of the LORD burned against Israel so that he sold them into the hands of Cushan-Rishathaim king of Aram Naharaim, to whom the Israelites were subject for eight years. But when they cried out to the LORD, he raised up for them a deliverer, Othniel son of Kenaz, Caleb’s younger brother, who saved them. Judges 3:7-9
After Joshua died, there was no national leader for the Israelites. They became a loose federation of tribes, some followed the Lord, others forgot the Lord and worshiped the gods of the people in the land, the people the prior generation did not drive out completely from the land. The Lord handed Israel over to their enemies because of their sin, but just as God heard the Israelites bound to slavery in Egypt, so He hears his people who honestly and repentantly cry out to Him for help. That is true today, too. If you have fallen away or are nearing that point, but your heart truly desires the Lord, call out to Him. He hears you, He can help you. Don’t let pride or feelings of desperation keep you from calling on Him. From personal experience, He answers the penitent cry for help.